JPS61141090U - - Google Patents
Info
- Publication number
- JPS61141090U JPS61141090U JP2588685U JP2588685U JPS61141090U JP S61141090 U JPS61141090 U JP S61141090U JP 2588685 U JP2588685 U JP 2588685U JP 2588685 U JP2588685 U JP 2588685U JP S61141090 U JPS61141090 U JP S61141090U
- Authority
- JP
- Japan
- Prior art keywords
- upper arm
- shoulder frame
- forearm
- bending
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000245 forearm Anatomy 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims 3
- 210000002310 elbow joint Anatomy 0.000 claims 1
Description
第１図は本考案に係るマニピユレータの一部切
断して示す正面図、第２図は第１図イ矢視図、第
３図はロ矢視図である。
１……基台、２，３，４……駆動モータ部、５
……上腕、６……前腕、７……ウエイト、２５…
…肩部枠、２６……中心軸、４１……歯車、６２
……肘部回動軸。
FIG. 1 is a partially cutaway front view of a manipulator according to the present invention, FIG. 2 is a view in the direction of the arrow A in FIG. 1, and FIG. 3 is a view in the direction of the arrow B in FIG. 1... Base, 2, 3, 4... Drive motor section, 5
... Upper arm, 6... Forearm, 7... Weight, 25...
... Shoulder frame, 26 ... Center shaft, 41 ... Gear, 62
...Elbow rotation axis.
Claims (1)
持し、肩部枠に上腕をねじり回転自在に支持し、
かつ該肩部枠の回転中心より上部に、上腕の前後
振り、上腕のねじり回転及び前腕の折曲げの３自
由度を個別に駆動するモータ部を設け、前腕の折
曲げ駆動用モータ部は上腕の上端に取付け、その
出力軸は上腕内を挿通して肘関節部まで導き、前
記出力軸に設けた傘歯車を介して前腕に連動させ
てあり、バランスウエイトは、その回転中心軸が
、肩部枠の中心軸と同一線上にあるとともに、前
腕折曲げ駆動用の出力軸と連動させて設け、かつ
配置位置は肩部枠の中心軸より上部とし、上腕の
外周に設けた歯車と該上腕ねじり駆動用のモータ
部の出力歯車とを噛合せたことを特徴とするマニ
ピユレータ等の関節構造。 The shoulder frame is swingably supported on a central shaft fixed to the base, and the upper arm is supported in a twistable and rotatable manner on the shoulder frame.
Further, above the rotation center of the shoulder frame, there is provided a motor section that individually drives the three degrees of freedom of swinging the upper arm back and forth, twisting rotation of the upper arm, and bending the forearm, and the motor section for driving the bending of the forearm is attached to the upper arm. The balance weight is attached to the upper end, and its output shaft passes through the upper arm and leads to the elbow joint, and is linked to the forearm via a bevel gear provided on the output shaft. It is located on the same line as the central axis of the shoulder frame, and is provided in conjunction with the output shaft for driving the bending of the forearm, and is arranged above the central axis of the shoulder frame, and the gear provided on the outer periphery of the upper arm and the upper arm. A joint structure for a manipulator, etc., characterized by meshing with an output gear of a motor section for torsional drive.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985025886U JPH0243671Y2 (en) | 1985-02-25 | 1985-02-25 | |
| US06/832,270 US4717303A (en) | 1985-02-25 | 1986-02-21 | Joint mechanism for manipulators |
| EP86102353A EP0193149B1 (en) | 1985-02-25 | 1986-02-24 | Joint mechanism for manipulators |
| DE8686102353T DE3666925D1 (en) | 1985-02-25 | 1986-02-24 | Joint mechanism for manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985025886U JPH0243671Y2 (en) | 1985-02-25 | 1985-02-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61141090U true JPS61141090U (en) | 1986-09-01 |
| JPH0243671Y2 JPH0243671Y2 (en) | 1990-11-20 |
Family
ID=30521378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985025886U Expired JPH0243671Y2 (en) | 1985-02-25 | 1985-02-25 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0243671Y2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5815691A (en) * | 1981-07-21 | 1983-01-29 | 株式会社大隈鐵工所 | Method of turning over and carrying workpiece |
| JPS5877478A (en) * | 1981-10-09 | 1983-05-10 | 富士通フアナツク株式会社 | Industrial robot |
-
1985
- 1985-02-25 JP JP1985025886U patent/JPH0243671Y2/ja not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5815691A (en) * | 1981-07-21 | 1983-01-29 | 株式会社大隈鐵工所 | Method of turning over and carrying workpiece |
| JPS5877478A (en) * | 1981-10-09 | 1983-05-10 | 富士通フアナツク株式会社 | Industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0243671Y2 (en) | 1990-11-20 |